eive/eive-obsw
eive/eive-obsw
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refactor power code
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This commit is contained in:
Robin Müller 2023-03-14 13:32:13 +01:00
parent b43e1ef4e9
commit c9e16642c5
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GPG Key ID: 11D4952C8CCEF814
10 changed files with 73 additions and 51 deletions
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7
CHANGELOG.md
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@ -26,6 +26,13 @@ will consitute of a breaking change warranting a new major release:
- Limitation of RW speeds was done before converting them to the correct unit scale.
- The Syrlinks task now has a proper name instead of `MAIN_SPI`.
## Changed
- Initialize switch states to a special `SWITCH_STATE_UNKNOWN` (2) variable. Return
`returnvalue::FAILED` in switch state getter.
- Wait 1 second before commanding SAFE mode. This ensures or at least increases the chance that
the switch states were initialized.
# [v1.37.0] 2023-03-11
eive-tmtc: v2.18.1

12
bsp_q7s/core/CoreController.cpp
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@ -32,8 +32,13 @@ xsc::Chip CoreController::CURRENT_CHIP = xsc::Chip::NO_CHIP;
xsc::Copy CoreController::CURRENT_COPY = xsc::Copy::NO_COPY;
CoreController::CoreController(object_id_t objectId)
: ExtendedControllerBase(objectId, 5), cmdExecutor(4096), cmdReplyBuf(4096, true), cmdRepliesSizes(128),
opDivider5(5), opDivider10(10), hkSet(this) {
: ExtendedControllerBase(objectId, 5),
cmdExecutor(4096),
cmdReplyBuf(4096, true),
cmdRepliesSizes(128),
opDivider5(5),
opDivider10(10),
hkSet(this) {
cmdExecutor.setRingBuffer(&cmdReplyBuf, &cmdRepliesSizes);
try {
sdcMan = SdCardManager::instance();
@ -318,7 +323,8 @@ ReturnValue_t CoreController::executeAction(ActionId_t actionId, MessageQueueId_
}
case (EXECUTE_SHELL_CMD): {
std::string cmd = std::string(cmd, size);
if(cmdExecutor.getCurrentState() == CommandExecutor::States::PENDING or shellCmdIsExecuting) {
if (cmdExecutor.getCurrentState() == CommandExecutor::States::PENDING or
shellCmdIsExecuting) {
return HasActionsIF::IS_BUSY;
}
cmdExecutor.load(cmd, false, false);

12
bsp_q7s/core/ObjectFactory.cpp
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@ -74,6 +74,8 @@
#include <mission/devices/GyrAdis1650XHandler.h>
#include <mission/devices/ImtqHandler.h>
#include <mission/devices/PcduHandler.h>
#include <mission/devices/Pdu1Handler.h>
#include <mission/devices/Pdu2Handler.h>
#include <mission/devices/SyrlinksHandler.h>
#include <mission/devices/devicedefinitions/rwHelpers.h>
#include <mission/tmtc/VirtualChannelWithQueue.h>
@ -102,8 +104,6 @@
#include "mission/devices/HeaterHandler.h"
#include "mission/devices/Max31865PT1000Handler.h"
#include "mission/devices/P60DockHandler.h"
#include "mission/devices/PDU1Handler.h"
#include "mission/devices/PDU2Handler.h"
#include "mission/devices/PayloadPcduHandler.h"
#include "mission/devices/RadiationSensorHandler.h"
#include "mission/devices/RwHandler.h"
@ -193,12 +193,12 @@ void ObjectFactory::createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchI
new P60DockHandler(objects::P60DOCK_HANDLER, objects::CSP_COM_IF, p60DockCspCookie, p60Fdir);
auto pdu1Fdir = new GomspacePowerFdir(objects::PDU1_HANDLER);
PDU1Handler* pdu1handler =
new PDU1Handler(objects::PDU1_HANDLER, objects::CSP_COM_IF, pdu1CspCookie, pdu1Fdir);
Pdu1Handler* pdu1handler =
new Pdu1Handler(objects::PDU1_HANDLER, objects::CSP_COM_IF, pdu1CspCookie, pdu1Fdir);
auto pdu2Fdir = new GomspacePowerFdir(objects::PDU2_HANDLER);
PDU2Handler* pdu2handler =
new PDU2Handler(objects::PDU2_HANDLER, objects::CSP_COM_IF, pdu2CspCookie, pdu2Fdir);
Pdu2Handler* pdu2handler =
new Pdu2Handler(objects::PDU2_HANDLER, objects::CSP_COM_IF, pdu2CspCookie, pdu2Fdir);
auto acuFdir = new GomspacePowerFdir(objects::ACU_HANDLER);
ACUHandler* acuhandler =

2
bsp_q7s/obsw.cpp
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@ -66,6 +66,8 @@ int obsw::obsw(int argc, char* argv[]) {
// Command the EIVE system to safe mode
#if OBSW_COMMAND_SAFE_MODE_AT_STARTUP == 1
// This ensures that the PCDU switches were updated.
TaskFactory::delayTask(1000);
commandEiveSystemToSafe();
#else
announceAllModes();

4
mission/devices/PcduHandler.cpp
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@ -19,6 +19,7 @@ PCDUHandler::PCDUHandler(object_id_t setObjectId, size_t cmdQueueSize)
commandQueue = QueueFactory::instance()->createMessageQueue(
cmdQueueSize, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
pwrLock = MutexFactory::instance()->createMutex();
std::memset(switchStates, SWITCH_STATE_UNKNOWN, sizeof(switchStates));
}
PCDUHandler::~PCDUHandler() {}
@ -407,6 +408,9 @@ ReturnValue_t PCDUHandler::getSwitchState(uint8_t switchNr) const {
MutexGuard mg(pwrLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
currentState = switchStates[switchNr];
}
if (currentState == SWITCH_STATE_UNKNOWN) {
return returnvalue::FAILED;
}
if (currentState == 1) {
return PowerSwitchIF::SWITCH_ON;
} else {

7
mission/devices/PcduHandler.h
View File

@ -35,7 +35,11 @@ class PCDUHandler : public PowerSwitchIF,
virtual ReturnValue_t sendSwitchCommand(uint8_t switchNr, ReturnValue_t onOff) override;
virtual ReturnValue_t sendFuseOnCommand(uint8_t fuseNr) override;
virtual ReturnValue_t getSwitchState(uint8_t switchNr) const override;
/**
* @param switchNr
* @return returnvalue::FAILED if the switch state has not been updated yet.
*/
ReturnValue_t getSwitchState(uint8_t switchNr) const override;
virtual ReturnValue_t getFuseState(uint8_t fuseNr) const override;
virtual uint32_t getSwitchDelayMs(void) const override;
virtual object_id_t getObjectId() const override;
@ -84,6 +88,7 @@ class PCDUHandler : public PowerSwitchIF,
/** The timeStamp of the current pdu1HkTableDataset */
CCSDSTime::CDS_short timeStampPdu1HkDataset;
uint8_t SWITCH_STATE_UNKNOWN = 2;
uint8_t switchStates[pcdu::NUMBER_OF_SWITCHES];
/**
* Pointer to the IPCStore.

29
mission/devices/PDU1Handler.cpp → mission/devices/Pdu1Handler.cpp
View File

@ -1,11 +1,10 @@
#include "PDU1Handler.h"
#include <fsfw/datapool/PoolReadGuard.h>
#include <mission/devices/Pdu1Handler.h>
#include <mission/devices/devicedefinitions/GomSpacePackets.h>
#include "devices/powerSwitcherList.h"
PDU1Handler::PDU1Handler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie,
Pdu1Handler::Pdu1Handler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie,
FailureIsolationBase *customFdir)
: GomspaceDeviceHandler(objectId, comIF, comCookie, cfg, customFdir),
coreHk(this),
@ -13,23 +12,23 @@ PDU1Handler::PDU1Handler(object_id_t objectId, object_id_t comIF, CookieIF *comC
initPduConfigTable();
}
PDU1Handler::~PDU1Handler() {}
Pdu1Handler::~Pdu1Handler() {}
ReturnValue_t PDU1Handler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
ReturnValue_t Pdu1Handler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
*id = GOMSPACE::REQUEST_HK_TABLE;
return buildCommandFromCommand(*id, NULL, 0);
}
void PDU1Handler::letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *packet) {
void Pdu1Handler::letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *packet) {
parseHkTableReply(packet);
}
void PDU1Handler::assignChannelHookFunction(GOMSPACE::ChannelSwitchHook hook, void *args) {
void Pdu1Handler::assignChannelHookFunction(GOMSPACE::ChannelSwitchHook hook, void *args) {
this->channelSwitchHook = hook;
this->hookArgs = args;
}
ReturnValue_t PDU1Handler::setParamCallback(SetParamMessageUnpacker &unpacker,
ReturnValue_t Pdu1Handler::setParamCallback(SetParamMessageUnpacker &unpacker,
bool afterExecution) {
using namespace PDU1;
GOMSPACE::Pdu pdu = GOMSPACE::Pdu::PDU1;
@ -79,15 +78,15 @@ ReturnValue_t PDU1Handler::setParamCallback(SetParamMessageUnpacker &unpacker,
return returnvalue::OK;
}
void PDU1Handler::letChildHandleConfigReply(DeviceCommandId_t id, const uint8_t *packet) {
void Pdu1Handler::letChildHandleConfigReply(DeviceCommandId_t id, const uint8_t *packet) {
handleDeviceTm(packet, PDU::CONFIG_TABLE_SIZE, id);
}
void PDU1Handler::parseHkTableReply(const uint8_t *packet) {
void Pdu1Handler::parseHkTableReply(const uint8_t *packet) {
GomspaceDeviceHandler::parsePduHkTable(coreHk, auxHk, packet);
}
ReturnValue_t PDU1Handler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
ReturnValue_t Pdu1Handler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) {
initializePduPool(localDataPoolMap, poolManager, pcdu::INIT_SWITCHES_PDU1);
poolManager.subscribeForDiagPeriodicPacket(
@ -97,7 +96,7 @@ ReturnValue_t PDU1Handler::initializeLocalDataPool(localpool::DataPool &localDat
return returnvalue::OK;
}
LocalPoolDataSetBase *PDU1Handler::getDataSetHandle(sid_t sid) {
LocalPoolDataSetBase *Pdu1Handler::getDataSetHandle(sid_t sid) {
if (sid == coreHk.getSid()) {
return &coreHk;
} else if (sid == auxHk.getSid()) {
@ -106,7 +105,7 @@ LocalPoolDataSetBase *PDU1Handler::getDataSetHandle(sid_t sid) {
return nullptr;
}
ReturnValue_t PDU1Handler::printStatus(DeviceCommandId_t cmd) {
ReturnValue_t Pdu1Handler::printStatus(DeviceCommandId_t cmd) {
ReturnValue_t result = returnvalue::OK;
switch (cmd) {
case (GOMSPACE::PRINT_SWITCH_V_I): {
@ -137,7 +136,7 @@ ReturnValue_t PDU1Handler::printStatus(DeviceCommandId_t cmd) {
return result;
}
void PDU1Handler::printHkTableSwitchVI() {
void Pdu1Handler::printHkTableSwitchVI() {
using namespace PDU1;
sif::info << "PDU1 Info: " << std::endl;
sif::info << "Boot Cause: " << auxHk.bootcause << " | Boot Count: " << std::setw(4) << std::right
@ -163,7 +162,7 @@ void PDU1Handler::printHkTableSwitchVI() {
printerHelper("Syrlinks", Channels::SYRLINKS);
}
void PDU1Handler::printHkTableLatchups() {
void Pdu1Handler::printHkTableLatchups() {
using namespace PDU1;
sif::info << "PDU1 Latchup Information" << std::endl;
auto printerHelper = [&](std::string channelStr, Channels idx) {

6
mission/devices/PDU1Handler.h → mission/devices/Pdu1Handler.h
View File

@ -19,11 +19,11 @@
* ACS 3.3V for Side A group, channel 7
* Unoccupied, 5V, channel 8
*/
class PDU1Handler : public GomspaceDeviceHandler {
class Pdu1Handler : public GomspaceDeviceHandler {
public:
PDU1Handler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
Pdu1Handler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
FailureIsolationBase* customFdir);
virtual ~PDU1Handler();
virtual ~Pdu1Handler();
virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) override;

29
mission/devices/PDU2Handler.cpp → mission/devices/Pdu2Handler.cpp
View File

@ -1,11 +1,10 @@
#include "PDU2Handler.h"
#include <fsfw/datapool/PoolReadGuard.h>
#include <mission/devices/Pdu2Handler.h>
#include <mission/devices/devicedefinitions/GomSpacePackets.h>
#include "devices/powerSwitcherList.h"
PDU2Handler::PDU2Handler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie,
Pdu2Handler::Pdu2Handler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie,
FailureIsolationBase *customFdir)
: GomspaceDeviceHandler(objectId, comIF, comCookie, cfg, customFdir),
coreHk(this),
@ -13,27 +12,27 @@ PDU2Handler::PDU2Handler(object_id_t objectId, object_id_t comIF, CookieIF *comC
initPduConfigTable();
}
PDU2Handler::~PDU2Handler() {}
Pdu2Handler::~Pdu2Handler() {}
ReturnValue_t PDU2Handler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
ReturnValue_t Pdu2Handler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
*id = GOMSPACE::REQUEST_HK_TABLE;
return buildCommandFromCommand(*id, NULL, 0);
}
void PDU2Handler::letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *packet) {
void Pdu2Handler::letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *packet) {
parseHkTableReply(packet);
}
void PDU2Handler::letChildHandleConfigReply(DeviceCommandId_t id, const uint8_t *packet) {
void Pdu2Handler::letChildHandleConfigReply(DeviceCommandId_t id, const uint8_t *packet) {
handleDeviceTm(packet, PDU::CONFIG_TABLE_SIZE, id);
}
void PDU2Handler::assignChannelHookFunction(GOMSPACE::ChannelSwitchHook hook, void *args) {
void Pdu2Handler::assignChannelHookFunction(GOMSPACE::ChannelSwitchHook hook, void *args) {
this->channelSwitchHook = hook;
this->hookArgs = args;
}
LocalPoolDataSetBase *PDU2Handler::getDataSetHandle(sid_t sid) {
LocalPoolDataSetBase *Pdu2Handler::getDataSetHandle(sid_t sid) {
if (sid == coreHk.getSid()) {
return &coreHk;
} else if (sid == auxHk.getSid()) {
@ -42,11 +41,11 @@ LocalPoolDataSetBase *PDU2Handler::getDataSetHandle(sid_t sid) {
return nullptr;
}
void PDU2Handler::parseHkTableReply(const uint8_t *packet) {
void Pdu2Handler::parseHkTableReply(const uint8_t *packet) {
GomspaceDeviceHandler::parsePduHkTable(coreHk, auxHk, packet);
}
ReturnValue_t PDU2Handler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
ReturnValue_t Pdu2Handler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) {
initializePduPool(localDataPoolMap, poolManager, pcdu::INIT_SWITCHES_PDU2);
poolManager.subscribeForDiagPeriodicPacket(
@ -56,7 +55,7 @@ ReturnValue_t PDU2Handler::initializeLocalDataPool(localpool::DataPool &localDat
return returnvalue::OK;
}
ReturnValue_t PDU2Handler::printStatus(DeviceCommandId_t cmd) {
ReturnValue_t Pdu2Handler::printStatus(DeviceCommandId_t cmd) {
ReturnValue_t result = returnvalue::OK;
switch (cmd) {
case (GOMSPACE::PRINT_SWITCH_V_I): {
@ -87,7 +86,7 @@ ReturnValue_t PDU2Handler::printStatus(DeviceCommandId_t cmd) {
return result;
}
void PDU2Handler::printHkTableSwitchVI() {
void Pdu2Handler::printHkTableSwitchVI() {
using namespace PDU2;
sif::info << "PDU2 Info:" << std::endl;
sif::info << "Boot Cause: " << auxHk.bootcause << " | Boot Count: " << std::setw(4) << std::right
@ -111,7 +110,7 @@ void PDU2Handler::printHkTableSwitchVI() {
printerHelper("Payload Camera", Channels::PAYLOAD_CAMERA);
}
void PDU2Handler::printHkTableLatchups() {
void Pdu2Handler::printHkTableLatchups() {
using namespace PDU2;
sif::info << "PDU2 Latchup Information" << std::endl;
auto printerHelper = [&](std::string channelStr, Channels idx) {
@ -129,7 +128,7 @@ void PDU2Handler::printHkTableLatchups() {
printerHelper("Payload Camera", Channels::PAYLOAD_CAMERA);
}
ReturnValue_t PDU2Handler::setParamCallback(SetParamMessageUnpacker &unpacker,
ReturnValue_t Pdu2Handler::setParamCallback(SetParamMessageUnpacker &unpacker,
bool afterExecution) {
using namespace PDU2;
GOMSPACE::Pdu pdu = GOMSPACE::Pdu::PDU2;

6
mission/devices/PDU2Handler.h → mission/devices/Pdu2Handler.h
View File

@ -19,11 +19,11 @@
* ACS Board (Gyro, MGMs, GPS), 3.3V channel 7
* Payload Camera, 8V, channel 8
*/
class PDU2Handler : public GomspaceDeviceHandler {
class Pdu2Handler : public GomspaceDeviceHandler {
public:
PDU2Handler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
Pdu2Handler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
FailureIsolationBase* customFdir);
virtual ~PDU2Handler();
virtual ~Pdu2Handler();
virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) override;